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Thu, 05 Jun 2025 15:05:16 -0700 (PDT) From: Gustavo Silva Date: Thu, 05 Jun 2025 19:05:01 -0300 Subject: [PATCH v2 1/3] iio: imu: bmi270: add channel for step counter Precedence: bulk X-Mailing-List: linux-kernel@vger.kernel.org List-Id: List-Subscribe: List-Unsubscribe: MIME-Version: 1.0 Content-Type: text/plain; charset="utf-8" Content-Transfer-Encoding: quoted-printable Message-Id: <20250605-bmi270-events-v2-1-8b2c07d0c213@gmail.com> References: <20250605-bmi270-events-v2-0-8b2c07d0c213@gmail.com> In-Reply-To: <20250605-bmi270-events-v2-0-8b2c07d0c213@gmail.com> To: Alex Lanzano , Jonathan Cameron , David Lechner , =?utf-8?q?Nuno_S=C3=A1?= , Andy Shevchenko Cc: linux-iio@vger.kernel.org, linux-kernel@vger.kernel.org, Gustavo Silva X-Mailer: b4 0.14.2 X-Developer-Signature: v=1; a=ed25519-sha256; t=1749161110; l=6340; i=gustavograzs@gmail.com; s=20250111; h=from:subject:message-id; bh=RxmGj3cLgdbs5Ik4JNJy/VqorzTfaela/azmgcDCe/8=; b=fOmP44cQNoBnGd6DoXhlyINvuTFJT81f2O38SGMf8soDZz+ACsfZPF0xwS4E7aX7R66ijMrPA RiRto5U1GOIDPSSfDlkUAPfPWn9DTgBiZ8TGIaTvzq3wG4XNRMq/To9 X-Developer-Key: i=gustavograzs@gmail.com; a=ed25519; pk=g2TFXpo1jMCOCN+rzVoM9NDFNfSMOgVyY0rlyvk4RTM= Add a channel for enabling/disabling the step counter, reading the number of steps and resetting the counter. Reviewed-by: Andy Shevchenko Signed-off-by: Gustavo Silva --- drivers/iio/imu/bmi270/bmi270_core.c | 138 +++++++++++++++++++++++++++++++= ++++ 1 file changed, 138 insertions(+) diff --git a/drivers/iio/imu/bmi270/bmi270_core.c b/drivers/iio/imu/bmi270/= bmi270_core.c index a86be5af5ccb1f010f2282ee31c47f284c1bcc86..6056f7635c5a6e89b670322adfe= ae0cb7dc5cd9a 100644 --- a/drivers/iio/imu/bmi270/bmi270_core.c +++ b/drivers/iio/imu/bmi270/bmi270_core.c @@ -31,6 +31,8 @@ #define BMI270_INT_STATUS_1_REG 0x1d #define BMI270_INT_STATUS_1_ACC_GYR_DRDY_MSK GENMASK(7, 6) =20 +#define BMI270_SC_OUT_0_REG 0x1e + #define BMI270_INTERNAL_STATUS_REG 0x21 #define BMI270_INTERNAL_STATUS_MSG_MSK GENMASK(3, 0) #define BMI270_INTERNAL_STATUS_MSG_INIT_OK 0x01 @@ -39,6 +41,8 @@ =20 #define BMI270_TEMPERATURE_0_REG 0x22 =20 +#define BMI270_FEAT_PAGE_REG 0x2f + #define BMI270_ACC_CONF_REG 0x40 #define BMI270_ACC_CONF_ODR_MSK GENMASK(3, 0) #define BMI270_ACC_CONF_ODR_100HZ 0x08 @@ -90,6 +94,9 @@ #define BMI270_PWR_CTRL_ACCEL_EN_MSK BIT(2) #define BMI270_PWR_CTRL_TEMP_EN_MSK BIT(3) =20 +#define BMI270_STEP_SC26_RST_CNT_MSK BIT(10) +#define BMI270_STEP_SC26_EN_CNT_MSK BIT(12) + /* See datasheet section 4.6.14, Temperature Sensor */ #define BMI270_TEMP_OFFSET 11776 #define BMI270_TEMP_SCALE 1953125 @@ -111,6 +118,7 @@ struct bmi270_data { struct iio_trigger *trig; /* Protect device's private data from concurrent access */ struct mutex mutex; + bool steps_enabled; =20 /* * Where IIO_DMA_MINALIGN may be larger than 8 bytes, align to @@ -120,6 +128,11 @@ struct bmi270_data { __le16 channels[6]; aligned_s64 timestamp; } buffer __aligned(IIO_DMA_MINALIGN); + /* + * Variable to access feature registers. It can be accessed concurrently + * with the 'buffer' variable + */ + __le16 regval __aligned(IIO_DMA_MINALIGN); }; =20 enum bmi270_scan { @@ -282,6 +295,107 @@ static const struct bmi270_odr_item bmi270_odr_table= [] =3D { }, }; =20 +enum bmi270_feature_reg_id { + BMI270_SC_26_REG, +}; + +struct bmi270_feature_reg { + u8 page; + u8 addr; +}; + +static const struct bmi270_feature_reg bmi270_feature_regs[] =3D { + [BMI270_SC_26_REG] =3D { + .page =3D 6, + .addr =3D 0x32, + }, +}; + +static int bmi270_write_feature_reg(struct bmi270_data *data, + enum bmi270_feature_reg_id id, + u16 val) +{ + const struct bmi270_feature_reg *reg =3D &bmi270_feature_regs[id]; + int ret; + + ret =3D regmap_write(data->regmap, BMI270_FEAT_PAGE_REG, reg->page); + if (ret) + return ret; + + data->regval =3D cpu_to_le16(val); + return regmap_bulk_write(data->regmap, reg->addr, &data->regval, + sizeof(data->regval)); +} + +static int bmi270_read_feature_reg(struct bmi270_data *data, + enum bmi270_feature_reg_id id, + u16 *val) +{ + const struct bmi270_feature_reg *reg =3D &bmi270_feature_regs[id]; + int ret; + + ret =3D regmap_write(data->regmap, BMI270_FEAT_PAGE_REG, reg->page); + if (ret) + return ret; + + ret =3D regmap_bulk_read(data->regmap, reg->addr, &data->regval, + sizeof(data->regval)); + if (ret) + return ret; + + *val =3D le16_to_cpu(data->regval); + return 0; +} + +static int bmi270_update_feature_reg(struct bmi270_data *data, + enum bmi270_feature_reg_id id, + u16 mask, u16 val) +{ + u16 regval =3D 0; + int ret; + + ret =3D bmi270_read_feature_reg(data, id, ®val); + if (ret) + return ret; + + set_mask_bits(®val, mask, val); + + return bmi270_write_feature_reg(data, id, regval); +} + +static int bmi270_enable_steps(struct bmi270_data *data, int val) +{ + int ret; + + guard(mutex)(&data->mutex); + if (data->steps_enabled) + return 0; + + ret =3D bmi270_update_feature_reg(data, BMI270_SC_26_REG, + BMI270_STEP_SC26_EN_CNT_MSK, + FIELD_PREP(BMI270_STEP_SC26_EN_CNT_MSK, + val ? 1 : 0)); + if (ret) + return ret; + + data->steps_enabled =3D true; + return 0; +} + +static int bmi270_read_steps(struct bmi270_data *data, int *val) +{ + __le16 steps_count; + int ret; + + ret =3D regmap_bulk_read(data->regmap, BMI270_SC_OUT_0_REG, &steps_count, + sizeof(steps_count)); + if (ret) + return ret; + + *val =3D sign_extend32(le16_to_cpu(steps_count), 15); + return IIO_VAL_INT; +} + static int bmi270_set_scale(struct bmi270_data *data, int chan_type, int u= scale) { int i; @@ -551,6 +665,8 @@ static int bmi270_read_raw(struct iio_dev *indio_dev, struct bmi270_data *data =3D iio_priv(indio_dev); =20 switch (mask) { + case IIO_CHAN_INFO_PROCESSED: + return bmi270_read_steps(data, val); case IIO_CHAN_INFO_RAW: if (!iio_device_claim_direct(indio_dev)) return -EBUSY; @@ -571,6 +687,9 @@ static int bmi270_read_raw(struct iio_dev *indio_dev, case IIO_CHAN_INFO_SAMP_FREQ: ret =3D bmi270_get_odr(data, chan->type, val, val2); return ret ? ret : IIO_VAL_INT_PLUS_MICRO; + case IIO_CHAN_INFO_ENABLE: + *val =3D data->steps_enabled ? 1 : 0; + return IIO_VAL_INT; default: return -EINVAL; } @@ -596,6 +715,19 @@ static int bmi270_write_raw(struct iio_dev *indio_dev, ret =3D bmi270_set_odr(data, chan->type, val, val2); 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Thu, 05 Jun 2025 15:05:19 -0700 (PDT) Received: from [192.168.0.9] ([2804:14d:90a8:477c:13e7:d349:8af8:5d32]) by smtp.gmail.com with ESMTPSA id a1e0cc1a2514c-87ebd219ec7sm288832241.24.2025.06.05.15.05.17 (version=TLS1_3 cipher=TLS_AES_256_GCM_SHA384 bits=256/256); Thu, 05 Jun 2025 15:05:19 -0700 (PDT) From: Gustavo Silva Date: Thu, 05 Jun 2025 19:05:02 -0300 Subject: [PATCH v2 2/3] iio: imu: bmi270: add step counter watermark event Precedence: bulk X-Mailing-List: linux-kernel@vger.kernel.org List-Id: List-Subscribe: List-Unsubscribe: MIME-Version: 1.0 Content-Type: text/plain; charset="utf-8" Content-Transfer-Encoding: quoted-printable Message-Id: <20250605-bmi270-events-v2-2-8b2c07d0c213@gmail.com> References: <20250605-bmi270-events-v2-0-8b2c07d0c213@gmail.com> In-Reply-To: <20250605-bmi270-events-v2-0-8b2c07d0c213@gmail.com> To: Alex Lanzano , Jonathan Cameron , David Lechner , =?utf-8?q?Nuno_S=C3=A1?= , Andy Shevchenko Cc: linux-iio@vger.kernel.org, linux-kernel@vger.kernel.org, Gustavo Silva X-Mailer: b4 0.14.2 X-Developer-Signature: v=1; a=ed25519-sha256; t=1749161110; l=7709; i=gustavograzs@gmail.com; s=20250111; h=from:subject:message-id; bh=HguUGu/bZDJEa5tPw74JL0xBHaO75/9Cub6FaLQFDyE=; b=CTMLaZEOYAYB0RHVi1memO2cWtH/oMSoz8izbmPj1cW7EAxr9l7JoFtGV7yEQuGtYBpjp/TbI xG6I+CUNBc8Dk2u5uetD2Z13stDEAQBBSyFR5mGTCtGZNJCo85yTsGB X-Developer-Key: i=gustavograzs@gmail.com; a=ed25519; pk=g2TFXpo1jMCOCN+rzVoM9NDFNfSMOgVyY0rlyvk4RTM= Add support for generating events when the step counter reaches the configurable watermark. Reviewed-by: Andy Shevchenko Signed-off-by: Gustavo Silva --- drivers/iio/imu/bmi270/bmi270_core.c | 174 +++++++++++++++++++++++++++++++= +++- 1 file changed, 171 insertions(+), 3 deletions(-) diff --git a/drivers/iio/imu/bmi270/bmi270_core.c b/drivers/iio/imu/bmi270/= bmi270_core.c index 6056f7635c5a6e89b670322adfeae0cb7dc5cd9a..0798eb1da3ecc3cecaf7d7d4721= 4bb07f4ec294f 100644 --- a/drivers/iio/imu/bmi270/bmi270_core.c +++ b/drivers/iio/imu/bmi270/bmi270_core.c @@ -8,6 +8,7 @@ #include #include =20 +#include #include #include #include @@ -28,6 +29,9 @@ #define BMI270_ACCEL_X_REG 0x0c #define BMI270_ANG_VEL_X_REG 0x12 =20 +#define BMI270_INT_STATUS_0_REG 0x1c +#define BMI270_INT_STATUS_0_STEP_CNT_MSK BIT(1) + #define BMI270_INT_STATUS_1_REG 0x1d #define BMI270_INT_STATUS_1_ACC_GYR_DRDY_MSK GENMASK(7, 6) =20 @@ -74,6 +78,10 @@ #define BMI270_INT_LATCH_REG 0x55 #define BMI270_INT_LATCH_REG_MSK BIT(0) =20 +#define BMI270_INT1_MAP_FEAT_REG 0x56 +#define BMI270_INT2_MAP_FEAT_REG 0x57 +#define BMI270_INT_MAP_FEAT_STEP_CNT_WTRMRK_MSK BIT(1) + #define BMI270_INT_MAP_DATA_REG 0x58 #define BMI270_INT_MAP_DATA_DRDY_INT1_MSK BIT(2) #define BMI270_INT_MAP_DATA_DRDY_INT2_MSK BIT(6) @@ -94,6 +102,7 @@ #define BMI270_PWR_CTRL_ACCEL_EN_MSK BIT(2) #define BMI270_PWR_CTRL_TEMP_EN_MSK BIT(3) =20 +#define BMI270_STEP_SC26_WTRMRK_MSK GENMASK(9, 0) #define BMI270_STEP_SC26_RST_CNT_MSK BIT(10) #define BMI270_STEP_SC26_EN_CNT_MSK BIT(12) =20 @@ -101,6 +110,10 @@ #define BMI270_TEMP_OFFSET 11776 #define BMI270_TEMP_SCALE 1953125 =20 +/* See page 90 of datasheet. The step counter "holds implicitly a 20x fact= or" */ +#define BMI270_STEP_COUNTER_FACTOR 20 +#define BMI270_STEP_COUNTER_MAX 20460 + #define BMI260_INIT_DATA_FILE "bmi260-init-data.fw" #define BMI270_INIT_DATA_FILE "bmi270-init-data.fw" =20 @@ -396,6 +409,40 @@ static int bmi270_read_steps(struct bmi270_data *data,= int *val) return IIO_VAL_INT; } =20 +static int bmi270_int_map_reg(enum bmi270_irq_pin pin) +{ + switch (pin) { + case BMI270_IRQ_INT1: + return BMI270_INT1_MAP_FEAT_REG; + case BMI270_IRQ_INT2: + return BMI270_INT2_MAP_FEAT_REG; + default: + return -EINVAL; + } +} + +static int bmi270_step_wtrmrk_en(struct bmi270_data *data, bool state) +{ + int ret, reg; + + guard(mutex)(&data->mutex); + if (!data->steps_enabled) + return -EINVAL; + + reg =3D bmi270_int_map_reg(data->irq_pin); + if (reg < 0) + return reg; + + ret =3D regmap_update_bits(data->regmap, reg, + BMI270_INT_MAP_FEAT_STEP_CNT_WTRMRK_MSK, + FIELD_PREP(BMI270_INT_MAP_FEAT_STEP_CNT_WTRMRK_MSK, + state)); + if (ret) + return ret; + + return 0; +} + static int bmi270_set_scale(struct bmi270_data *data, int chan_type, int u= scale) { int i; @@ -552,19 +599,31 @@ static irqreturn_t bmi270_irq_thread_handler(int irq,= void *private) { struct iio_dev *indio_dev =3D private; struct bmi270_data *data =3D iio_priv(indio_dev); - unsigned int status; + unsigned int status0, status1; + s64 timestamp =3D iio_get_time_ns(indio_dev); int ret; =20 scoped_guard(mutex, &data->mutex) { + ret =3D regmap_read(data->regmap, BMI270_INT_STATUS_0_REG, + &status0); + if (ret) + return IRQ_NONE; + ret =3D regmap_read(data->regmap, BMI270_INT_STATUS_1_REG, - &status); + &status1); if (ret) return IRQ_NONE; } =20 - if (FIELD_GET(BMI270_INT_STATUS_1_ACC_GYR_DRDY_MSK, status)) + if (FIELD_GET(BMI270_INT_STATUS_1_ACC_GYR_DRDY_MSK, status1)) iio_trigger_poll_nested(data->trig); =20 + if (FIELD_GET(BMI270_INT_STATUS_0_STEP_CNT_MSK, status0)) + iio_push_event(indio_dev, IIO_UNMOD_EVENT_CODE(IIO_STEPS, 0, + IIO_EV_TYPE_CHANGE, + IIO_EV_DIR_NONE), + timestamp); + return IRQ_HANDLED; } =20 @@ -772,10 +831,117 @@ static int bmi270_read_avail(struct iio_dev *indio_d= ev, } } =20 +static int bmi270_write_event_config(struct iio_dev *indio_dev, + const struct iio_chan_spec *chan, + enum iio_event_type type, + enum iio_event_direction dir, bool state) +{ + struct bmi270_data *data =3D iio_priv(indio_dev); + + switch (type) { + case IIO_EV_TYPE_CHANGE: + return bmi270_step_wtrmrk_en(data, state); + default: + return -EINVAL; + } +} + +static int bmi270_read_event_config(struct iio_dev *indio_dev, + const struct iio_chan_spec *chan, + enum iio_event_type type, + enum iio_event_direction dir) +{ + struct bmi270_data *data =3D iio_priv(indio_dev); + int ret, reg, regval; + + guard(mutex)(&data->mutex); + + switch (chan->type) { + case IIO_STEPS: + reg =3D bmi270_int_map_reg(data->irq_pin); + if (reg) + return reg; + + ret =3D regmap_read(data->regmap, reg, ®val); + if (ret) + return ret; + return FIELD_GET(BMI270_INT_MAP_FEAT_STEP_CNT_WTRMRK_MSK, + regval) ? 1 : 0; + default: + return -EINVAL; + } +} + +static int bmi270_write_event_value(struct iio_dev *indio_dev, + const struct iio_chan_spec *chan, + enum iio_event_type type, + enum iio_event_direction dir, + enum iio_event_info info, + int val, int val2) +{ + struct bmi270_data *data =3D iio_priv(indio_dev); + unsigned int raw; + + guard(mutex)(&data->mutex); + + switch (type) { + case IIO_EV_TYPE_CHANGE: + if (!in_range(val, 0, BMI270_STEP_COUNTER_MAX + 1)) + return -EINVAL; + + raw =3D val / BMI270_STEP_COUNTER_FACTOR; + return bmi270_update_feature_reg(data, BMI270_SC_26_REG, + BMI270_STEP_SC26_WTRMRK_MSK, + FIELD_PREP(BMI270_STEP_SC26_WTRMRK_MSK, + raw)); + default: + return -EINVAL; + } +} + +static int bmi270_read_event_value(struct iio_dev *indio_dev, + const struct iio_chan_spec *chan, + enum iio_event_type type, + enum iio_event_direction dir, + enum iio_event_info info, + int *val, int *val2) +{ + struct bmi270_data *data =3D iio_priv(indio_dev); + unsigned int raw; + u16 regval; + int ret; + + guard(mutex)(&data->mutex); + + switch (type) { + case IIO_EV_TYPE_CHANGE: + ret =3D bmi270_read_feature_reg(data, BMI270_SC_26_REG, ®val); + if (ret) + return ret; + + raw =3D FIELD_GET(BMI270_STEP_SC26_WTRMRK_MSK, regval); + *val =3D raw * BMI270_STEP_COUNTER_FACTOR; + return IIO_VAL_INT; + default: + return -EINVAL; + } +} + +static const struct iio_event_spec bmi270_step_wtrmrk_event =3D { + .type =3D IIO_EV_TYPE_CHANGE, + .dir =3D IIO_EV_DIR_NONE, + .mask_shared_by_type =3D BIT(IIO_EV_INFO_ENABLE) | + BIT(IIO_EV_INFO_VALUE), +}; + static const struct iio_info bmi270_info =3D { .read_raw =3D bmi270_read_raw, .write_raw =3D bmi270_write_raw, .read_avail =3D bmi270_read_avail, + .write_event_config =3D bmi270_write_event_config, + .read_event_config =3D bmi270_read_event_config, + .write_event_value =3D bmi270_write_event_value, + .read_event_value =3D bmi270_read_event_value, }; =20 #define BMI270_ACCEL_CHANNEL(_axis) { \ @@ -835,6 +1001,8 @@ static const struct iio_chan_spec bmi270_channels[] = =3D { .info_mask_separate =3D BIT(IIO_CHAN_INFO_ENABLE) | BIT(IIO_CHAN_INFO_PROCESSED), .scan_index =3D -1, /* No buffer support */ + .event_spec =3D &bmi270_step_wtrmrk_event, + .num_event_specs =3D 1, }, IIO_CHAN_SOFT_TIMESTAMP(BMI270_SCAN_TIMESTAMP), }; 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Thu, 05 Jun 2025 15:05:22 -0700 (PDT) From: Gustavo Silva Date: Thu, 05 Jun 2025 19:05:03 -0300 Subject: [PATCH v2 3/3] iio: imu: bmi270: add support for motion events Precedence: bulk X-Mailing-List: linux-kernel@vger.kernel.org List-Id: List-Subscribe: List-Unsubscribe: MIME-Version: 1.0 Content-Type: text/plain; charset="utf-8" Content-Transfer-Encoding: quoted-printable Message-Id: <20250605-bmi270-events-v2-3-8b2c07d0c213@gmail.com> References: <20250605-bmi270-events-v2-0-8b2c07d0c213@gmail.com> In-Reply-To: <20250605-bmi270-events-v2-0-8b2c07d0c213@gmail.com> To: Alex Lanzano , Jonathan Cameron , David Lechner , =?utf-8?q?Nuno_S=C3=A1?= , Andy Shevchenko Cc: linux-iio@vger.kernel.org, linux-kernel@vger.kernel.org, Gustavo Silva X-Mailer: b4 0.14.2 X-Developer-Signature: v=1; a=ed25519-sha256; t=1749161110; l=15232; i=gustavograzs@gmail.com; s=20250111; h=from:subject:message-id; bh=IT6dwHFuI7368Z0g3V3gB+9wMImV7d618u+1LBRTq0M=; b=irIq6S5IqYF5ZEIpSbelcKZyG85xMvViV5mPjAJaTye+R8W9EHbnC44afMV1PE5vbk9/r0BHn fyvzGUq57j0CRP+QrCXGqod38MyJiXYlYKSY4lCR7hnicKbFKlTH+Sh X-Developer-Key: i=gustavograzs@gmail.com; a=ed25519; pk=g2TFXpo1jMCOCN+rzVoM9NDFNfSMOgVyY0rlyvk4RTM= Any-motion event can be enabled on a per-axis basis and triggers a combined event when motion is detected on any axis. No-motion event is triggered if the rate of change on all axes falls below a specified threshold for a configurable duration. A fake channel is used to report this event. Threshold and duration can be configured from userspace. Signed-off-by: Gustavo Silva --- drivers/iio/imu/bmi270/bmi270_core.c | 318 +++++++++++++++++++++++++++++++= +++- 1 file changed, 309 insertions(+), 9 deletions(-) diff --git a/drivers/iio/imu/bmi270/bmi270_core.c b/drivers/iio/imu/bmi270/= bmi270_core.c index 0798eb1da3ecc3cecaf7d7d47214bb07f4ec294f..eb0cada50087ccecfd5624a5316= 92873e396deb6 100644 --- a/drivers/iio/imu/bmi270/bmi270_core.c +++ b/drivers/iio/imu/bmi270/bmi270_core.c @@ -31,6 +31,8 @@ =20 #define BMI270_INT_STATUS_0_REG 0x1c #define BMI270_INT_STATUS_0_STEP_CNT_MSK BIT(1) +#define BMI270_INT_STATUS_0_NOMOTION_MSK BIT(5) +#define BMI270_INT_STATUS_0_MOTION_MSK BIT(6) =20 #define BMI270_INT_STATUS_1_REG 0x1d #define BMI270_INT_STATUS_1_ACC_GYR_DRDY_MSK GENMASK(7, 6) @@ -81,6 +83,8 @@ #define BMI270_INT1_MAP_FEAT_REG 0x56 #define BMI270_INT2_MAP_FEAT_REG 0x57 #define BMI270_INT_MAP_FEAT_STEP_CNT_WTRMRK_MSK BIT(1) +#define BMI270_INT_MAP_FEAT_NOMOTION_MSK BIT(5) +#define BMI270_INT_MAP_FEAT_ANYMOTION_MSK BIT(6) =20 #define BMI270_INT_MAP_DATA_REG 0x58 #define BMI270_INT_MAP_DATA_DRDY_INT1_MSK BIT(2) @@ -106,6 +110,22 @@ #define BMI270_STEP_SC26_RST_CNT_MSK BIT(10) #define BMI270_STEP_SC26_EN_CNT_MSK BIT(12) =20 +#define BMI270_FEAT_MOTION_DURATION_MSK GENMASK(12, 0) +#define BMI270_FEAT_MOTION_X_EN_MSK BIT(13) +#define BMI270_FEAT_MOTION_Y_EN_MSK BIT(14) +#define BMI270_FEAT_MOTION_Z_EN_MSK BIT(15) +#define BMI270_FEAT_MOTION_XYZ_EN_MSK GENMASK(15, 13) +#define BMI270_FEAT_MOTION_THRESHOLD_MSK GENMASK(10, 0) +#define BMI270_FEAT_MOTION_OUT_CONF_MSK GENMASK(14, 11) +#define BMI270_FEAT_MOTION_ENABLE_MSK BIT(15) + +#define BMI270_MOTION_XYZ_MSK GENMASK(2, 0) + +/* See pages 92 and 93 of the datasheet */ +#define BMI270_MOTION_THRES_SCALE GENMASK(10, 0) +#define BMI270_MOTION_DURAT_SCALE 50 +#define BMI270_MOTION_DURAT_MAX 162 + /* See datasheet section 4.6.14, Temperature Sensor */ #define BMI270_TEMP_OFFSET 11776 #define BMI270_TEMP_SCALE 1953125 @@ -114,6 +134,10 @@ #define BMI270_STEP_COUNTER_FACTOR 20 #define BMI270_STEP_COUNTER_MAX 20460 =20 +#define BMI270_INT_MICRO_TO_RAW(val, val2, scale) ((val) * (scale) + \ + ((val2) * (scale)) / MEGA) +#define BMI270_RAW_TO_MICRO(raw, scale) ((((raw) % (scale)) * MEGA) / scal= e) + #define BMI260_INIT_DATA_FILE "bmi260-init-data.fw" #define BMI270_INIT_DATA_FILE "bmi270-init-data.fw" =20 @@ -309,6 +333,13 @@ static const struct bmi270_odr_item bmi270_odr_table[= ] =3D { }; =20 enum bmi270_feature_reg_id { + /* Page 1 registers */ + BMI270_ANYMO1_REG, + BMI270_ANYMO2_REG, + /* Page 2 registers */ + BMI270_NOMO1_REG, + BMI270_NOMO2_REG, + /* Page 6 registers */ BMI270_SC_26_REG, }; =20 @@ -318,6 +349,22 @@ struct bmi270_feature_reg { }; =20 static const struct bmi270_feature_reg bmi270_feature_regs[] =3D { + [BMI270_ANYMO1_REG] =3D { + .page =3D 1, + .addr =3D 0x3c, + }, + [BMI270_ANYMO2_REG] =3D { + .page =3D 1, + .addr =3D 0x3e, + }, + [BMI270_NOMO1_REG] =3D { + .page =3D 2, + .addr =3D 0x30, + }, + [BMI270_NOMO2_REG] =3D { + .page =3D 2, + .addr =3D 0x32, + }, [BMI270_SC_26_REG] =3D { .page =3D 6, .addr =3D 0x32, @@ -443,6 +490,95 @@ static int bmi270_step_wtrmrk_en(struct bmi270_data *d= ata, bool state) return 0; } =20 +static int bmi270_anymotion_event_en(struct bmi270_data *data, + struct iio_chan_spec const *chan, + bool state) +{ + u16 axis_msk, axis_field_val, regval; + int ret, irq_reg; + bool axis_en; + + irq_reg =3D bmi270_int_map_reg(data->irq_pin); + if (irq_reg < 0) + return irq_reg; + + guard(mutex)(&data->mutex); + + ret =3D bmi270_read_feature_reg(data, BMI270_ANYMO1_REG, ®val); + if (ret) + return ret; + + switch (chan->channel2) { + case IIO_MOD_X: + axis_msk =3D BMI270_FEAT_MOTION_X_EN_MSK; + axis_field_val =3D FIELD_PREP(BMI270_FEAT_MOTION_X_EN_MSK, state); + axis_en =3D FIELD_GET(BMI270_FEAT_MOTION_Y_EN_MSK, regval) | + FIELD_GET(BMI270_FEAT_MOTION_Z_EN_MSK, regval); + break; + case IIO_MOD_Y: + axis_msk =3D BMI270_FEAT_MOTION_Y_EN_MSK; + axis_field_val =3D FIELD_PREP(BMI270_FEAT_MOTION_Y_EN_MSK, state); + axis_en =3D FIELD_GET(BMI270_FEAT_MOTION_X_EN_MSK, regval) | + FIELD_GET(BMI270_FEAT_MOTION_Z_EN_MSK, regval); + break; + case IIO_MOD_Z: + axis_msk =3D BMI270_FEAT_MOTION_Z_EN_MSK; + axis_field_val =3D FIELD_PREP(BMI270_FEAT_MOTION_Z_EN_MSK, state); + axis_en =3D FIELD_GET(BMI270_FEAT_MOTION_X_EN_MSK, regval) | + FIELD_GET(BMI270_FEAT_MOTION_Y_EN_MSK, regval); + break; + default: + return -EINVAL; + } + + ret =3D bmi270_update_feature_reg(data, BMI270_ANYMO1_REG, axis_msk, + axis_field_val); + if (ret) + return ret; + + ret =3D bmi270_update_feature_reg(data, BMI270_ANYMO2_REG, + BMI270_FEAT_MOTION_ENABLE_MSK, + FIELD_PREP(BMI270_FEAT_MOTION_ENABLE_MSK, + state || axis_en)); + if (ret) + return ret; + + return regmap_update_bits(data->regmap, irq_reg, + BMI270_INT_MAP_FEAT_ANYMOTION_MSK, + FIELD_PREP(BMI270_INT_MAP_FEAT_ANYMOTION_MSK, + state || axis_en)); +} + +static int bmi270_nomotion_event_en(struct bmi270_data *data, bool state) +{ + int ret, irq_reg; + + irq_reg =3D bmi270_int_map_reg(data->irq_pin); + if (irq_reg < 0) + return irq_reg; + + guard(mutex)(&data->mutex); + + ret =3D bmi270_update_feature_reg(data, BMI270_NOMO1_REG, + BMI270_FEAT_MOTION_XYZ_EN_MSK, + FIELD_PREP(BMI270_FEAT_MOTION_XYZ_EN_MSK, + state ? BMI270_MOTION_XYZ_MSK : 0)); + if (ret) + return ret; + + ret =3D bmi270_update_feature_reg(data, BMI270_NOMO2_REG, + BMI270_FEAT_MOTION_ENABLE_MSK, + FIELD_PREP(BMI270_FEAT_MOTION_ENABLE_MSK, + state)); + if (ret) + return ret; + + return regmap_update_bits(data->regmap, irq_reg, + BMI270_INT_MAP_FEAT_NOMOTION_MSK, + FIELD_PREP(BMI270_INT_MAP_FEAT_NOMOTION_MSK, + state)); +} + static int bmi270_set_scale(struct bmi270_data *data, int chan_type, int u= scale) { int i; @@ -618,6 +754,20 @@ static irqreturn_t bmi270_irq_thread_handler(int irq, = void *private) if (FIELD_GET(BMI270_INT_STATUS_1_ACC_GYR_DRDY_MSK, status1)) iio_trigger_poll_nested(data->trig); =20 + if (FIELD_GET(BMI270_INT_STATUS_0_MOTION_MSK, status0)) + iio_push_event(indio_dev, IIO_MOD_EVENT_CODE(IIO_ACCEL, 0, + IIO_MOD_X_OR_Y_OR_Z, + IIO_EV_TYPE_MAG_ADAPTIVE, + IIO_EV_DIR_RISING), + timestamp); + + if (FIELD_GET(BMI270_INT_STATUS_0_NOMOTION_MSK, status0)) + iio_push_event(indio_dev, IIO_MOD_EVENT_CODE(IIO_ACCEL, 0, + IIO_MOD_X_AND_Y_AND_Z, + IIO_EV_TYPE_ROC, + IIO_EV_DIR_RISING), + timestamp); + if (FIELD_GET(BMI270_INT_STATUS_0_STEP_CNT_MSK, status0)) iio_push_event(indio_dev, IIO_UNMOD_EVENT_CODE(IIO_STEPS, 0, IIO_EV_TYPE_CHANGE, @@ -831,6 +981,20 @@ static int bmi270_read_avail(struct iio_dev *indio_dev, } } =20 +static IIO_CONST_ATTR(in_accel_value_available, "[0.0 0.00049 1.0]"); + +static IIO_CONST_ATTR(in_accel_period_available, "[0.0 0.02 162.0]"); + +static struct attribute *bmi270_event_attributes[] =3D { + &iio_const_attr_in_accel_value_available.dev_attr.attr, + &iio_const_attr_in_accel_period_available.dev_attr.attr, + NULL +}; + +static const struct attribute_group bmi270_event_attribute_group =3D { + .attrs =3D bmi270_event_attributes, +}; + static int bmi270_write_event_config(struct iio_dev *indio_dev, const struct iio_chan_spec *chan, enum iio_event_type type, @@ -839,6 +1003,10 @@ static int bmi270_write_event_config(struct iio_dev *= indio_dev, struct bmi270_data *data =3D iio_priv(indio_dev); =20 switch (type) { + case IIO_EV_TYPE_MAG_ADAPTIVE: + return bmi270_anymotion_event_en(data, chan, state); + case IIO_EV_TYPE_ROC: + return bmi270_nomotion_event_en(data, state); case IIO_EV_TYPE_CHANGE: return bmi270_step_wtrmrk_en(data, state); default: @@ -852,21 +1020,58 @@ static int bmi270_read_event_config(struct iio_dev *= indio_dev, enum iio_event_direction dir) { struct bmi270_data *data =3D iio_priv(indio_dev); - int ret, reg, regval; + bool feat_en, axis_en; + unsigned int regval; + u16 motion_reg; + int ret, reg; =20 guard(mutex)(&data->mutex); =20 + reg =3D bmi270_int_map_reg(data->irq_pin); + if (reg < 0) + return reg; + + ret =3D regmap_read(data->regmap, reg, ®val); + if (ret) + return ret; + switch (chan->type) { case IIO_STEPS: - reg =3D bmi270_int_map_reg(data->irq_pin); - if (reg) - return reg; - - ret =3D regmap_read(data->regmap, reg, ®val); - if (ret) - return ret; return FIELD_GET(BMI270_INT_MAP_FEAT_STEP_CNT_WTRMRK_MSK, regval) ? 1 : 0; + case IIO_ACCEL: + switch (type) { + case IIO_EV_TYPE_ROC: + return FIELD_GET(BMI270_INT_MAP_FEAT_NOMOTION_MSK, + regval) ? 1 : 0; + case IIO_EV_TYPE_MAG_ADAPTIVE: + ret =3D bmi270_read_feature_reg(data, BMI270_ANYMO1_REG, + &motion_reg); + if (ret) + return ret; + + feat_en =3D FIELD_GET(BMI270_INT_MAP_FEAT_ANYMOTION_MSK, + regval); + switch (chan->channel2) { + case IIO_MOD_X: + axis_en =3D FIELD_GET(BMI270_FEAT_MOTION_X_EN_MSK, + motion_reg); + break; + case IIO_MOD_Y: + axis_en =3D FIELD_GET(BMI270_FEAT_MOTION_Y_EN_MSK, + motion_reg); + break; + case IIO_MOD_Z: + axis_en =3D FIELD_GET(BMI270_FEAT_MOTION_Z_EN_MSK, + motion_reg); + break; + default: + return -EINVAL; + } + return (axis_en && feat_en) ? 1 : 0; + default: + return -EINVAL; + } default: return -EINVAL; } @@ -881,10 +1086,17 @@ static int bmi270_write_event_value(struct iio_dev *= indio_dev, { struct bmi270_data *data =3D iio_priv(indio_dev); unsigned int raw; + int reg; =20 guard(mutex)(&data->mutex); =20 switch (type) { + case IIO_EV_TYPE_MAG_ADAPTIVE: + reg =3D BMI270_ANYMO1_REG; + break; + case IIO_EV_TYPE_ROC: + reg =3D BMI270_NOMO1_REG; + break; case IIO_EV_TYPE_CHANGE: if (!in_range(val, 0, BMI270_STEP_COUNTER_MAX + 1)) return -EINVAL; @@ -897,6 +1109,31 @@ static int bmi270_write_event_value(struct iio_dev *i= ndio_dev, default: return -EINVAL; } + + switch (info) { + case IIO_EV_INFO_VALUE: + if (!in_range(val, 0, 1)) + return -EINVAL; + + raw =3D BMI270_INT_MICRO_TO_RAW(val, val2, + BMI270_MOTION_THRES_SCALE); + return bmi270_update_feature_reg(data, reg, + BMI270_FEAT_MOTION_THRESHOLD_MSK, + FIELD_PREP(BMI270_FEAT_MOTION_THRESHOLD_MSK, + raw)); + case IIO_EV_INFO_PERIOD: + if (!in_range(val, 0, BMI270_MOTION_DURAT_MAX + 1)) + return -EINVAL; + + raw =3D BMI270_INT_MICRO_TO_RAW(val, val2, + BMI270_MOTION_DURAT_SCALE); + return bmi270_update_feature_reg(data, reg, + BMI270_FEAT_MOTION_DURATION_MSK, + FIELD_PREP(BMI270_FEAT_MOTION_DURATION_MSK, + raw)); + default: + return -EINVAL; + } } =20 static int bmi270_read_event_value(struct iio_dev *indio_dev, @@ -908,12 +1145,18 @@ static int bmi270_read_event_value(struct iio_dev *i= ndio_dev, { struct bmi270_data *data =3D iio_priv(indio_dev); unsigned int raw; + int ret, reg; u16 regval; - int ret; =20 guard(mutex)(&data->mutex); =20 switch (type) { + case IIO_EV_TYPE_MAG_ADAPTIVE: + reg =3D BMI270_ANYMO1_REG; + break; + case IIO_EV_TYPE_ROC: + reg =3D BMI270_NOMO1_REG; + break; case IIO_EV_TYPE_CHANGE: ret =3D bmi270_read_feature_reg(data, BMI270_SC_26_REG, ®val); if (ret) @@ -925,6 +1168,29 @@ static int bmi270_read_event_value(struct iio_dev *in= dio_dev, default: return -EINVAL; } + + switch (info) { + case IIO_EV_INFO_VALUE: + ret =3D bmi270_read_feature_reg(data, reg, ®val); + if (ret) + return ret; + + raw =3D FIELD_GET(BMI270_FEAT_MOTION_THRESHOLD_MSK, regval); + *val =3D raw / BMI270_MOTION_THRES_SCALE; + *val2 =3D BMI270_RAW_TO_MICRO(raw, BMI270_MOTION_THRES_SCALE); + return IIO_VAL_INT_PLUS_MICRO; + case IIO_EV_INFO_PERIOD: + ret =3D bmi270_read_feature_reg(data, reg, ®val); + if (ret) + return ret; + + raw =3D FIELD_GET(BMI270_FEAT_MOTION_DURATION_MSK, regval); + *val =3D raw / BMI270_MOTION_DURAT_SCALE; + *val2 =3D BMI270_RAW_TO_MICRO(raw, BMI270_MOTION_DURAT_SCALE); + return IIO_VAL_INT_PLUS_MICRO; + default: + return -EINVAL; + } } =20 static const struct iio_event_spec bmi270_step_wtrmrk_event =3D { @@ -934,6 +1200,22 @@ static const struct iio_event_spec bmi270_step_wtrmrk= _event =3D { BIT(IIO_EV_INFO_VALUE), }; =20 +static const struct iio_event_spec bmi270_anymotion_event =3D { + .type =3D IIO_EV_TYPE_MAG_ADAPTIVE, + .dir =3D IIO_EV_DIR_RISING, + .mask_separate =3D BIT(IIO_EV_INFO_ENABLE), + .mask_shared_by_type =3D BIT(IIO_EV_INFO_VALUE) | + BIT(IIO_EV_INFO_PERIOD), +}; + +static const struct iio_event_spec bmi270_nomotion_event =3D { + .type =3D IIO_EV_TYPE_ROC, + .dir =3D IIO_EV_DIR_RISING, + .mask_separate =3D BIT(IIO_EV_INFO_ENABLE), + .mask_shared_by_type =3D BIT(IIO_EV_INFO_VALUE) | + BIT(IIO_EV_INFO_PERIOD), +}; + static const struct iio_info bmi270_info =3D { .read_raw =3D bmi270_read_raw, .write_raw =3D bmi270_write_raw, @@ -942,6 +1224,7 @@ static const struct iio_info bmi270_info =3D { .read_event_config =3D bmi270_read_event_config, .write_event_value =3D bmi270_write_event_value, .read_event_value =3D bmi270_read_event_value, + .event_attrs =3D &bmi270_event_attribute_group, }; =20 #define BMI270_ACCEL_CHANNEL(_axis) { \ @@ -961,6 +1244,8 @@ static const struct iio_info bmi270_info =3D { .storagebits =3D 16, \ .endianness =3D IIO_LE, \ }, \ + .event_spec =3D &bmi270_anymotion_event, \ + .num_event_specs =3D 1, \ } =20 #define BMI270_ANG_VEL_CHANNEL(_axis) { \ @@ -1005,6 +1290,14 @@ static const struct iio_chan_spec bmi270_channels[] = =3D { .num_event_specs =3D 1, }, IIO_CHAN_SOFT_TIMESTAMP(BMI270_SCAN_TIMESTAMP), + { + .type =3D IIO_ACCEL, + .modified =3D 1, + .channel2 =3D IIO_MOD_X_AND_Y_AND_Z, + .scan_index =3D -1, /* Fake channel */ + .event_spec =3D &bmi270_nomotion_event, + .num_event_specs =3D 1, + }, }; =20 static int bmi270_int_pin_config(struct bmi270_data *data, @@ -1112,6 +1405,13 @@ static int bmi270_trigger_probe(struct bmi270_data *= data, return dev_err_probe(data->dev, ret, "Trigger registration failed\n"); =20 + /* Disable axes for motion events */ + ret =3D bmi270_update_feature_reg(data, BMI270_ANYMO1_REG, + BMI270_FEAT_MOTION_XYZ_EN_MSK, + FIELD_PREP(BMI270_FEAT_MOTION_XYZ_EN_MSK, 0)); + if (ret) + return ret; + data->irq_pin =3D irq_pin; =20 return 0; --=20 2.49.0